@Article{Zhang20arxiv,
  author        = {Zichao Zhang and Davide Scaramuzza},
  title         = {Fisher Information Field: an Efficient and Differentiable Map for Perception-aware Planning},
  journal       = {ar{X}iv e-prints},
  year          = 2020,
  month         = aug,
  url           = {https://arxiv.org/abs/2008.03324},
  arxivid       = {2008.03324}
}